ROS (Robot Operating System)
From GICLWiki
(Difference between revisions)
| Line 17: | Line 17: | ||
Wait for passwords, until you get the done prompt. | Wait for passwords, until you get the done prompt. | ||
| − | + | === Control with Keyboard === | |
After starting the p2os driver and everything, you can control the robot via keyboard with: | After starting the p2os driver and everything, you can control the robot via keyboard with: | ||
<pre>$ roslaunch p2os_launch teleop_keyboard.launch</pre> | <pre>$ roslaunch p2os_launch teleop_keyboard.launch</pre> | ||
| + | |||
| + | === rviz === | ||
| + | Just launch the robot's rviz launch with: | ||
| + | <pre>$ roslaunch unicorn.launch</pre> | ||
Revision as of 23:14, 18 June 2012
We used ROS so we could take advantage of the large amount of packages it provides. This is so we don't have to reinvent the wheel.
Contents |
p2os
p2os is the ROS stack for communicating with the pioneer robot. An example of the pioneer robot using ROS and the navigation system: http://youtu.be/f3Iu2t0d3xo.
Installing
Open up a terminal. Clone the git repository into your home directory:
git clone <USER>@tux.cs.drexel.edu:~taw38/repos/robotlab.git
Enter the repository:
cd ~/robotlab
Then run the ros setup script.
./ros/bin/setup-ros.bash
Wait for passwords, until you get the done prompt.
Control with Keyboard
After starting the p2os driver and everything, you can control the robot via keyboard with:
$ roslaunch p2os_launch teleop_keyboard.launch
rviz
Just launch the robot's rviz launch with:
$ roslaunch unicorn.launch
